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+--- Thread: About Euler angle (Z, Y' ,Z'') (/Thread-About-Euler-angle-Z-Y-Z)
About Euler angle (Z, Y' ,Z'')-Michael2022-03-16-2023
We use Doosan robot, which use Euler angle (Z,Y',Z'') in RoboDK. Why dose RoboDK use Y' instead Y here? Dose Y' mean the rotated Y after rotating around the axis Z? Thank you very much.
RE: About Euler angle (Z, Y' ,Z'')-Albert-03-16-2023
What you describe is correct. The Y' means that the rotation happens after the first Z rotation.
RE: About Euler angle (Z, Y' ,Z'')-Michael2022-03-17-2023
(03-16-2023, 03:31 PM)Albert Wrote:What you describe is correct. The Y' means that the rotation happens after the first Z rotation.
Thank you very much. You means that, in ZY'Z'', Y' is the rotated Y after Z rotation and Y' is the original Y. Right?
RE: About Euler angle (Z, Y' ,Z'')-Albert-03-17-2023
That's correct.
In short, you could also calculate the pose this way:
Code:
transl(x,y,z) * rotz(ra) * roty(rb) * rotz(rc)